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The multilayer perceptrons (MLPs) have been widely used in many communication applications, however, the learning process of the multilayer perceptrons often becomes very slow, which is due to the existence of the singularities in the parameter space. As the singularities significantly affect the learning dynamics of MLPs, the standard gradient descent method is not Fisher efficient. In order to overcome...
Aiming at the security problem of cooperative robots, this paper presents a low cost collision detection algorithm without torque sensors. In this method, the collision can be detected with the sampling torque and the dynamic model. First, the relationship between the output torque and the motion state of the rotating joint of the robot is established according to the Newton Euler method. For the...
In this paper some of the problems related to electrical drives in modern elevators are presented. These are the modeling of jerk and the definition of the motion trajectory, power savings, efficiency optimization and possibilities for energy storage in generator mode, and application of suitable converters and control techniques for the implementation in elevator drives. Suggested solutions are tested...
In this paper, we present a general quadruped locomotion planning method for traversing unstructured terrain. Novel features of our method include the procedure that a body trajectory optimizer based on the Zero Moment Point (ZMP) stability criterion and Linear Inverted Pendulum Model (LIPM). The ZMP trajectory optimizer can be applied to any legged robot which can be approximated by the LIPM model...
This paper proposes plume-tracing strategy for an autonomous underwater vehicle (AUV) in the deep-sea environment. In order to dynamically adapt the complex environment and optimize the policy during interaction, reinforcement learning (RL) with continuous state and action domain is applied in this problem. Different from traditional strategies which have predesigned and stationary actions, this learning-based...
In this paper, a generalized biased proportional navigation (PN) guidance law to intercept higher-speed nonmaneuvering targets at a desired impact angle is presented. Inspired by controlling the turn rate of the relative velocity vector, the biased relative PN is introduced to design the relative heading angular rate, which is required to be proportional to the LOS rate as in the case of PN but with...
Polishing is a precision machining method to improve the material surface quality. This paper presents a new polishing method based on Position-velocity-time (PVT) interpolation in computer-controlled optical surface (CCOS). In order to verify the machining performance of the proposed technology, a series of analytical and experimental investigations were conducted. From the experimental results,...
Fully automated vehicles and mobile robots operate in a shared environment with pedestrians. To minimize the risk for pedestrians, it is very important to track them in a precise way. As cameras are often installed in surveillance situations, they are used for tracking pedestrians in a shared environment. To improve the accuracy of the tracking, it is necessary to include all available context information...
The reducing of energy consumption for transportation and manipulation of industrial objects is a topical issue. The objects of manipulation are gripped with the use of industrial robot and transported from one position to another. In gripping devices, the lifting force is created on the basis of the aerodynamic effect of lifting appearing due to the use of compressed air. The efficiency of functioning...
The extended weighted and objective functions are proposed based on the time-to-go function. According to the optimal control theory, a family of extended optimal trajectory shaping guidance laws is deduced for the constant maneuvering target. The variation of miss distance of position and angle with flight time is analyzed without considering dynamic lag. With the introduction of target hovering...
Maneuvering aircraft tracking under low accuracy observations is a challenge. To solve this problem, we constructed the corresponding dynamic model for different flying states of aircraft. Then we combined the models of different flying states into single one. Since an accurate dynamic model is a strong constraint for the flying trajectory of aircraft, the trajectory should follow the dynamic characteristic...
This paper studies the velocity decision making problem for nonholonomic wheeled mobile agents under acceleration constrains. Given the attitudes and velocities information of nonholonomic wheeled mobile agent at start point (SP) and end point (EP), the date of motion trajectory is generated based on the cubic Bezier curve. Then, the decision of time optimal maximum allowable velocity trajectory is...
In this paper, a novel cooperative guidance law is proposed to make multiple missiles hit simultaneously the same target at a pre-specified impact angle. Firstly, the normal acceleration which changes the velocity direction is designed such that all missiles will fly along the desired line of sight (LOS) after a given time which ensures the hit-to-kill interception; then the consensus variable is...
In this paper localization using UWB positioning system and an inertial unit containing a single accelerometer is considered. The main part of the paper describes a novel algorithm for person localization. The algorithm is based on modified Extended Kalman Filter and utilizes TDOA (Time Difference of Arrival) results obtained from UWB system and results of acceleration measurement performed by the...
A simple non-intrusive approach to tremor quantification utilizing the repetitive nature of the phenomenon is proposed and implemented on a portable device equipped with a fused off-the-shelf sensor platform measuring 3D acceleration. The device can be automatically activated when picked up from a stationary position and acceleration measurements are performed for a certain time interval. This usage...
In context of human-machine-interaction trajectories need to be rerouted or re-planned with reduced dynamical constraints in order to avoid collisions. This requires online feasible algorithm for trajectory planning in space. In this paper a new method for planning time-optimal trajectories subject to dynamic and geometrical constraints is proposed. Distinctively to other work, both spatial and temporal...
A path optimization strategy for generating energy-aware soaring trajectories for small Unmanned Aerial Systems (sUAS) is presented. Soaring paths are generated using a point-mass dynamics model and deterministic local wind field. The dynamics model, periodic constraints, and an energy-aware cost function are combined into a nonlinear program (NLP) framework to generate energy optimal paths. A dynamics...
This paper presents a path following controller for quadrotors to follow splines in the output space. The control pipeline includes utilization of a cascaded control architecture, generation of paths using quintic spline interpolation, transformation of coordinates using Frenet-Serret (FS) frames, and decoupling controllers for the transversal and tangential sub-systems. The result is a time-invariant...
For the understanding of the dynamics inside crowds reliable empirical data are needed. On that basis the safety and comfort for pedestrians can be increased and models reflecting the real dynamics can be designed. For that purpose we are developing the free framework PeTrack collecting data from laboratory experiments. With the new integration of the detection of individual codes the presented framework...
This paper analyzes the control of a mobile robotic system that utilizes a serpentine robotic tail to assist in the maneuvering and stabilization of quadrupedal locomotion. The goal of this research is to reduce the design and control complexity required in the robot's legs by providing a separate mechanism to help the mobile robot steer and recover from disturbances. The design and dynamic models...
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